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<div class="title">RobotRunner.h</div>  </div>
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<a href="../../d3/d41/_robot_runner_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef PROJECT_ROBOTRUNNER_H</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define PROJECT_ROBOTRUNNER_H</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d6/de9/_control_parameter_interface_8h.html">ControlParameters/ControlParameterInterface.h</a>&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d9/d53/_robot_parameters_8h.html">ControlParameters/RobotParameters.h</a>&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d8/d87/_state_estimator_container_8h.html">Controllers/StateEstimatorContainer.h</a>&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d0/df2/_i_m_u_types_8h.html">SimUtilities/IMUTypes.h</a>&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;gui_main_control_settings_t.hpp&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../db/d94/_contact_estimator_8h.html">Controllers/ContactEstimator.h</a>&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d8/dfc/_desired_state_command_8h.html">Controllers/DesiredStateCommand.h</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/d41/_leg_controller_8h.html">Controllers/LegController.h</a>&quot;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d3/dc7/_quadruped_8h.html">Dynamics/Quadruped.h</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d1/df4/_j_pos_initializer_8h.html">JPosInitializer.h</a>&quot;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d7/d24/_gamepad_command_8h.html">SimUtilities/GamepadCommand.h</a>&quot;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../df/d0d/_visualization_data_8h.html">SimUtilities/VisualizationData.h</a>&quot;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../dc/d87/_periodic_task_8h.html">Utilities/PeriodicTask.h</a>&quot;</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;cheetah_visualization_lcmt.hpp&quot;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &quot;state_estimator_lcmt.hpp&quot;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="../../d3/dff/_robot_controller_8h.html">RobotController.h</a>&gt;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &lt;lcm-cpp.hpp&gt;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html">   30</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d9/d42/class_robot_runner.html">RobotRunner</a> : <span class="keyword">public</span> <a class="code" href="../../de/d2f/class_periodic_task.html">PeriodicTask</a> {</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="../../d9/d42/class_robot_runner.html#ab1279040e970e8919510d107ed450aab">RobotRunner</a>(<a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>* , <a class="code" href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a>*, <span class="keywordtype">float</span>, std::string);</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keyword">using</span> <a class="code" href="../../de/d2f/class_periodic_task.html#aadb0c519e5d15feae5e66cdecaeb54f6">PeriodicTask::PeriodicTask</a>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#affa2cfda073a7b1742561154c3081ae5">init</a>() <span class="keyword">override</span>;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a00f9204f3367b9948a2053e66d92c844">run</a>() <span class="keyword">override</span>;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#aa6343490aaae621d14e9dfb920284d58">cleanup</a>() <span class="keyword">override</span>;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// Initialize the state estimator with default no cheaterMode</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a2690089988868e09ee5827788bded47a">initializeStateEstimator</a>(<span class="keywordtype">bool</span> cheaterMode = <span class="keyword">false</span>);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">virtual</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a322d0c0ba72d0301a16e05540a2eae63">~RobotRunner</a>();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a22049e420073df0f4f7c0df114b5e917">   44</a></span>&#160;  <a class="code" href="../../d4/d6a/class_robot_controller.html">RobotController</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a22049e420073df0f4f7c0df114b5e917">_robot_ctrl</a>;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#ab68a04d6b506333426883633a6430656">   46</a></span>&#160;  <a class="code" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#ab68a04d6b506333426883633a6430656">driverCommand</a>;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#ac36f7f6395167f998afe23f6d4f86c82">   47</a></span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a> <a class="code" href="../../d9/d42/class_robot_runner.html#ac36f7f6395167f998afe23f6d4f86c82">robotType</a>;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a556fa8680fbd044ace2e0ac66db6c0ff">   48</a></span>&#160;  <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a556fa8680fbd044ace2e0ac66db6c0ff">vectorNavData</a>;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a0c0ed1f15b551e355dd724696830d9ce">   49</a></span>&#160;  <a class="code" href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt;double&gt;</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a0c0ed1f15b551e355dd724696830d9ce">cheaterState</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a58767b23c3b78f2d6f7a5af7474d39cf">   50</a></span>&#160;  <a class="code" href="../../d5/d09/struct_spi_data.html">SpiData</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a58767b23c3b78f2d6f7a5af7474d39cf">spiData</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a13f4f83d3364befdad7a218f2c16afbb">   51</a></span>&#160;  <a class="code" href="../../d0/ddd/struct_spi_command.html">SpiCommand</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a13f4f83d3364befdad7a218f2c16afbb">spiCommand</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a0f2ce3493eb24f284097c191bd46878b">   52</a></span>&#160;  <a class="code" href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a0f2ce3493eb24f284097c191bd46878b">tiBoardCommand</a>;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#ac50170ed61462e6b473a8b4123252b06">   53</a></span>&#160;  <a class="code" href="../../de/de1/struct_ti_board_data.html">TiBoardData</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#ac50170ed61462e6b473a8b4123252b06">tiBoardData</a>;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a1738f8f82abdedc10c25e0360fba2dec">   54</a></span>&#160;  <a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a1738f8f82abdedc10c25e0360fba2dec">controlParameters</a>;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a8c74848e52f20b1294d650641f40ea4f">   55</a></span>&#160;  <a class="code" href="../../d3/d60/struct_visualization_data.html">VisualizationData</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a8c74848e52f20b1294d650641f40ea4f">visualizationData</a>;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#ad49f79affbf6c35d4c8ac21a50cb8ae3">   56</a></span>&#160;  <a class="code" href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#ad49f79affbf6c35d4c8ac21a50cb8ae3">cheetahMainVisualization</a>;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a9c110d02e7a2d84105d559bdcbfbbe77">   59</a></span>&#160;  <span class="keywordtype">float</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a9c110d02e7a2d84105d559bdcbfbbe77">_ini_yaw</a>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a2afbec5f8ca8de22d917b7e3aea68a44">   61</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a2afbec5f8ca8de22d917b7e3aea68a44">iter</a> = 0;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a350d9f78e20c990d39533024dce26759">setupStep</a>();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d9/d42/class_robot_runner.html#aca37fb89c947e01ce01a4853f0ebfb25">finalizeStep</a>();</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a5e661baf2a4409d910c56852309e2eba">   66</a></span>&#160;  <a class="code" href="../../d6/d0e/class_j_pos_initializer.html">JPosInitializer&lt;float&gt;</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a5e661baf2a4409d910c56852309e2eba">_jpos_initializer</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a3fca77b8800f422df7b4479c1a9de256">   67</a></span>&#160;  <a class="code" href="../../dc/d66/class_quadruped.html">Quadruped&lt;float&gt;</a> <a class="code" href="../../d9/d42/class_robot_runner.html#a3fca77b8800f422df7b4479c1a9de256">_quadruped</a>;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a5df8c8d98558dbf844abfcdcb21e805a">   68</a></span>&#160;  <a class="code" href="../../d0/d96/class_leg_controller.html">LegController&lt;float&gt;</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a5df8c8d98558dbf844abfcdcb21e805a">_legController</a> = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a2740567fb438904e017aa1a8f29b2f15">   69</a></span>&#160;  <a class="code" href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt;float&gt;</a> <a class="code" href="../../d9/d42/class_robot_runner.html#a2740567fb438904e017aa1a8f29b2f15">_stateEstimate</a>;</div><div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a4cfc6ffa3d96d78ea95633d602896a37">   70</a></span>&#160;  <a class="code" href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer&lt;float&gt;</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a4cfc6ffa3d96d78ea95633d602896a37">_stateEstimator</a>;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a110cef5dc9ec858247b859b37a86ae76">   71</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d9/d42/class_robot_runner.html#a110cef5dc9ec858247b859b37a86ae76">_cheaterModeEnabled</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a5c821324ab0aa3242530fe440cef8238">   72</a></span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand&lt;float&gt;</a>* <a class="code" href="../../d9/d42/class_robot_runner.html#a5c821324ab0aa3242530fe440cef8238">_desiredStateCommand</a>;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#ac30dc70ec5c716af67b9e5ad1116170f">   73</a></span>&#160;  lcm::LCM <a class="code" href="../../d9/d42/class_robot_runner.html#ac30dc70ec5c716af67b9e5ad1116170f">_lcm</a>;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a675c3dc67c255fc4869bacd785f8e31c">   74</a></span>&#160;  leg_control_command_lcmt <a class="code" href="../../d9/d42/class_robot_runner.html#a675c3dc67c255fc4869bacd785f8e31c">leg_control_command_lcm</a>;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a02c2ec6b1bbcdba9bb71a52e1c7c1ff4">   75</a></span>&#160;  state_estimator_lcmt <a class="code" href="../../d9/d42/class_robot_runner.html#a02c2ec6b1bbcdba9bb71a52e1c7c1ff4">state_estimator_lcm</a>;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a1ced7e9e4a5690141839c1bf39e3b54a">   76</a></span>&#160;  leg_control_data_lcmt <a class="code" href="../../d9/d42/class_robot_runner.html#a1ced7e9e4a5690141839c1bf39e3b54a">leg_control_data_lcm</a>;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Contact Estimator to calculate estimated forces and contacts</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#a0ce5b08a77c9093398f0863c13cced0e">   79</a></span>&#160;  <a class="code" href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt;float&gt;</a> <a class="code" href="../../d9/d42/class_robot_runner.html#a0ce5b08a77c9093398f0863c13cced0e">_model</a>;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="../../d9/d42/class_robot_runner.html#aa5a05775ffd71056024d5a60c3bfe354">   80</a></span>&#160;  <a class="code" href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a> <a class="code" href="../../d9/d42/class_robot_runner.html#aa5a05775ffd71056024d5a60c3bfe354">_iterations</a> = 0;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;};</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="preprocessor">#endif  // PROJECT_ROBOTRUNNER_H</span></div><div class="ttc" id="class_robot_runner_html_aca37fb89c947e01ce01a4853f0ebfb25"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#aca37fb89c947e01ce01a4853f0ebfb25">RobotRunner::finalizeStep</a></div><div class="ttdeci">void finalizeStep()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00158">RobotRunner.cpp:158</a></div></div>
<div class="ttc" id="class_robot_runner_html_a13f4f83d3364befdad7a218f2c16afbb"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a13f4f83d3364befdad7a218f2c16afbb">RobotRunner::spiCommand</a></div><div class="ttdeci">SpiCommand * spiCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00051">RobotRunner.h:51</a></div></div>
<div class="ttc" id="class_robot_runner_html_ac50170ed61462e6b473a8b4123252b06"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ac50170ed61462e6b473a8b4123252b06">RobotRunner::tiBoardData</a></div><div class="ttdeci">TiBoardData * tiBoardData</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00053">RobotRunner.h:53</a></div></div>
<div class="ttc" id="class_robot_runner_html_a58767b23c3b78f2d6f7a5af7474d39cf"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a58767b23c3b78f2d6f7a5af7474d39cf">RobotRunner::spiData</a></div><div class="ttdeci">SpiData * spiData</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00050">RobotRunner.h:50</a></div></div>
<div class="ttc" id="class_robot_runner_html_a5df8c8d98558dbf844abfcdcb21e805a"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a5df8c8d98558dbf844abfcdcb21e805a">RobotRunner::_legController</a></div><div class="ttdeci">LegController&lt; float &gt; * _legController</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00068">RobotRunner.h:68</a></div></div>
<div class="ttc" id="class_robot_runner_html_a1ced7e9e4a5690141839c1bf39e3b54a"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a1ced7e9e4a5690141839c1bf39e3b54a">RobotRunner::leg_control_data_lcm</a></div><div class="ttdeci">leg_control_data_lcmt leg_control_data_lcm</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00076">RobotRunner.h:76</a></div></div>
<div class="ttc" id="struct_cheetah_visualization_html"><div class="ttname"><a href="../../d0/d6d/struct_cheetah_visualization.html">CheetahVisualization</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00037">VisualizationData.h:37</a></div></div>
<div class="ttc" id="class_robot_runner_html"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html">RobotRunner</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00030">RobotRunner.h:30</a></div></div>
<div class="ttc" id="class_quadruped_html"><div class="ttname"><a href="../../dc/d66/class_quadruped.html">Quadruped&lt; float &gt;</a></div></div>
<div class="ttc" id="struct_spi_command_html"><div class="ttname"><a href="../../d0/ddd/struct_spi_command.html">SpiCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00010">SpineBoard.h:10</a></div></div>
<div class="ttc" id="class_robot_controller_html"><div class="ttname"><a href="../../d4/d6a/class_robot_controller.html">RobotController</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d3/dff/_robot_controller_8h_source.html#l00010">RobotController.h:10</a></div></div>
<div class="ttc" id="_quadruped_8h_html"><div class="ttname"><a href="../../d3/dc7/_quadruped_8h.html">Quadruped.h</a></div><div class="ttdoc">Data structure containing parameters for quadruped robot. </div></div>
<div class="ttc" id="class_robot_runner_html_a556fa8680fbd044ace2e0ac66db6c0ff"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a556fa8680fbd044ace2e0ac66db6c0ff">RobotRunner::vectorNavData</a></div><div class="ttdeci">VectorNavData * vectorNavData</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00048">RobotRunner.h:48</a></div></div>
<div class="ttc" id="class_robot_runner_html_a2690089988868e09ee5827788bded47a"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a2690089988868e09ee5827788bded47a">RobotRunner::initializeStateEstimator</a></div><div class="ttdeci">void initializeStateEstimator(bool cheaterMode=false)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00174">RobotRunner.cpp:174</a></div></div>
<div class="ttc" id="_periodic_task_8h_html"><div class="ttname"><a href="../../dc/d87/_periodic_task_8h.html">PeriodicTask.h</a></div><div class="ttdoc">Implementation of a periodic function running in a separate thread. Periodic tasks have a task manage...</div></div>
<div class="ttc" id="class_robot_runner_html_a00f9204f3367b9948a2053e66d92c844"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a00f9204f3367b9948a2053e66d92c844">RobotRunner::run</a></div><div class="ttdeci">void run() override</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00067">RobotRunner.cpp:67</a></div></div>
<div class="ttc" id="class_robot_runner_html_ab1279040e970e8919510d107ed450aab"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ab1279040e970e8919510d107ed450aab">RobotRunner::RobotRunner</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotRunner(RobotController *, PeriodicTaskManager *, float, std::string)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00015">RobotRunner.cpp:15</a></div></div>
<div class="ttc" id="class_periodic_task_html_aadb0c519e5d15feae5e66cdecaeb54f6"><div class="ttname"><a href="../../de/d2f/class_periodic_task.html#aadb0c519e5d15feae5e66cdecaeb54f6">PeriodicTask::PeriodicTask</a></div><div class="ttdeci">PeriodicTask(PeriodicTaskManager *taskManager, float period, std::string name)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df7/_periodic_task_8cpp_source.html#l00014">PeriodicTask.cpp:14</a></div></div>
<div class="ttc" id="_robot_parameters_8h_html"><div class="ttname"><a href="../../d9/d53/_robot_parameters_8h.html">RobotParameters.h</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="struct_visualization_data_html"><div class="ttname"><a href="../../d3/d60/struct_visualization_data.html">VisualizationData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../df/d0d/_visualization_data_8h_source.html#l00060">VisualizationData.h:60</a></div></div>
<div class="ttc" id="class_robot_runner_html_a0f2ce3493eb24f284097c191bd46878b"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a0f2ce3493eb24f284097c191bd46878b">RobotRunner::tiBoardCommand</a></div><div class="ttdeci">TiBoardCommand * tiBoardCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00052">RobotRunner.h:52</a></div></div>
<div class="ttc" id="_j_pos_initializer_8h_html"><div class="ttname"><a href="../../d1/df4/_j_pos_initializer_8h.html">JPosInitializer.h</a></div></div>
<div class="ttc" id="class_periodic_task_html"><div class="ttname"><a href="../../de/d2f/class_periodic_task.html">PeriodicTask</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d87/_periodic_task_8h_source.html#l00019">PeriodicTask.h:19</a></div></div>
<div class="ttc" id="struct_gamepad_command_html"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00012">GamepadCommand.h:12</a></div></div>
<div class="ttc" id="class_leg_controller_html"><div class="ttname"><a href="../../d0/d96/class_leg_controller.html">LegController&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_affa2cfda073a7b1742561154c3081ae5"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#affa2cfda073a7b1742561154c3081ae5">RobotRunner::init</a></div><div class="ttdeci">void init() override</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00028">RobotRunner.cpp:28</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="class_robot_runner_html_a9c110d02e7a2d84105d559bdcbfbbe77"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a9c110d02e7a2d84105d559bdcbfbbe77">RobotRunner::_ini_yaw</a></div><div class="ttdeci">float _ini_yaw</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00059">RobotRunner.h:59</a></div></div>
<div class="ttc" id="_robot_controller_8h_html"><div class="ttname"><a href="../../d3/dff/_robot_controller_8h.html">RobotController.h</a></div></div>
<div class="ttc" id="class_robot_runner_html_ab68a04d6b506333426883633a6430656"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ab68a04d6b506333426883633a6430656">RobotRunner::driverCommand</a></div><div class="ttdeci">GamepadCommand * driverCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00046">RobotRunner.h:46</a></div></div>
<div class="ttc" id="class_robot_runner_html_ad49f79affbf6c35d4c8ac21a50cb8ae3"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ad49f79affbf6c35d4c8ac21a50cb8ae3">RobotRunner::cheetahMainVisualization</a></div><div class="ttdeci">CheetahVisualization * cheetahMainVisualization</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00056">RobotRunner.h:56</a></div></div>
<div class="ttc" id="struct_cheater_state_html"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt; double &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_a110cef5dc9ec858247b859b37a86ae76"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a110cef5dc9ec858247b859b37a86ae76">RobotRunner::_cheaterModeEnabled</a></div><div class="ttdeci">bool _cheaterModeEnabled</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00071">RobotRunner.h:71</a></div></div>
<div class="ttc" id="_desired_state_command_8h_html"><div class="ttname"><a href="../../d8/dfc/_desired_state_command_8h.html">DesiredStateCommand.h</a></div></div>
<div class="ttc" id="class_robot_runner_html_a1738f8f82abdedc10c25e0360fba2dec"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a1738f8f82abdedc10c25e0360fba2dec">RobotRunner::controlParameters</a></div><div class="ttdeci">RobotControlParameters * controlParameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00054">RobotRunner.h:54</a></div></div>
<div class="ttc" id="struct_ti_board_command_html"><div class="ttname"><a href="../../d8/d03/struct_ti_board_command.html">TiBoardCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00009">ti_boardcontrol.h:9</a></div></div>
<div class="ttc" id="class_robot_runner_html_aa6343490aaae621d14e9dfb920284d58"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#aa6343490aaae621d14e9dfb920284d58">RobotRunner::cleanup</a></div><div class="ttdeci">void cleanup() override</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00195">RobotRunner.cpp:195</a></div></div>
<div class="ttc" id="class_robot_runner_html_a5e661baf2a4409d910c56852309e2eba"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a5e661baf2a4409d910c56852309e2eba">RobotRunner::_jpos_initializer</a></div><div class="ttdeci">JPosInitializer&lt; float &gt; * _jpos_initializer</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00066">RobotRunner.h:66</a></div></div>
<div class="ttc" id="class_robot_runner_html_a0c0ed1f15b551e355dd724696830d9ce"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a0c0ed1f15b551e355dd724696830d9ce">RobotRunner::cheaterState</a></div><div class="ttdeci">CheaterState&lt; double &gt; * cheaterState</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00049">RobotRunner.h:49</a></div></div>
<div class="ttc" id="class_state_estimator_container_html"><div class="ttname"><a href="../../d1/d3b/class_state_estimator_container.html">StateEstimatorContainer&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_a2740567fb438904e017aa1a8f29b2f15"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a2740567fb438904e017aa1a8f29b2f15">RobotRunner::_stateEstimate</a></div><div class="ttdeci">StateEstimate&lt; float &gt; _stateEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00069">RobotRunner.h:69</a></div></div>
<div class="ttc" id="_leg_controller_8h_html"><div class="ttname"><a href="../../d0/d41/_leg_controller_8h.html">LegController.h</a></div><div class="ttdoc">Common Leg Control Interface and Leg Control Algorithms. </div></div>
<div class="ttc" id="class_robot_runner_html_a3fca77b8800f422df7b4479c1a9de256"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a3fca77b8800f422df7b4479c1a9de256">RobotRunner::_quadruped</a></div><div class="ttdeci">Quadruped&lt; float &gt; _quadruped</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00067">RobotRunner.h:67</a></div></div>
<div class="ttc" id="class_robot_runner_html_a0ce5b08a77c9093398f0863c13cced0e"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a0ce5b08a77c9093398f0863c13cced0e">RobotRunner::_model</a></div><div class="ttdeci">FloatingBaseModel&lt; float &gt; _model</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00079">RobotRunner.h:79</a></div></div>
<div class="ttc" id="class_j_pos_initializer_html"><div class="ttname"><a href="../../d6/d0e/class_j_pos_initializer.html">JPosInitializer&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_ac30dc70ec5c716af67b9e5ad1116170f"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ac30dc70ec5c716af67b9e5ad1116170f">RobotRunner::_lcm</a></div><div class="ttdeci">lcm::LCM _lcm</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00073">RobotRunner.h:73</a></div></div>
<div class="ttc" id="_gamepad_command_8h_html"><div class="ttname"><a href="../../d7/d24/_gamepad_command_8h.html">GamepadCommand.h</a></div><div class="ttdoc">The GamepadCommand type containing joystick information. </div></div>
<div class="ttc" id="class_robot_runner_html_a675c3dc67c255fc4869bacd785f8e31c"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a675c3dc67c255fc4869bacd785f8e31c">RobotRunner::leg_control_command_lcm</a></div><div class="ttdeci">leg_control_command_lcmt leg_control_command_lcm</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00074">RobotRunner.h:74</a></div></div>
<div class="ttc" id="class_robot_runner_html_a2afbec5f8ca8de22d917b7e3aea68a44"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a2afbec5f8ca8de22d917b7e3aea68a44">RobotRunner::iter</a></div><div class="ttdeci">int iter</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00061">RobotRunner.h:61</a></div></div>
<div class="ttc" id="class_floating_base_model_html"><div class="ttname"><a href="../../d6/db1/class_floating_base_model.html">FloatingBaseModel&lt; float &gt;</a></div></div>
<div class="ttc" id="c_types_8h_html_a3f7e2bcbb0b4c338f3c4f6c937cd4234"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a></div><div class="ttdeci">uint64_t u64</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00017">cTypes.h:17</a></div></div>
<div class="ttc" id="_state_estimator_container_8h_html"><div class="ttname"><a href="../../d8/d87/_state_estimator_container_8h.html">StateEstimatorContainer.h</a></div></div>
<div class="ttc" id="struct_state_estimate_html"><div class="ttname"><a href="../../dd/df3/struct_state_estimate.html">StateEstimate&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_a350d9f78e20c990d39533024dce26759"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a350d9f78e20c990d39533024dce26759">RobotRunner::setupStep</a></div><div class="ttdeci">void setupStep()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00123">RobotRunner.cpp:123</a></div></div>
<div class="ttc" id="class_robot_runner_html_a4cfc6ffa3d96d78ea95633d602896a37"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a4cfc6ffa3d96d78ea95633d602896a37">RobotRunner::_stateEstimator</a></div><div class="ttdeci">StateEstimatorContainer&lt; float &gt; * _stateEstimator</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00070">RobotRunner.h:70</a></div></div>
<div class="ttc" id="_control_parameter_interface_8h_html"><div class="ttname"><a href="../../d6/de9/_control_parameter_interface_8h.html">ControlParameterInterface.h</a></div><div class="ttdoc">Types to allow remote access of control parameters, for use with LCM/Shared memory. </div></div>
<div class="ttc" id="class_robot_runner_html_a322d0c0ba72d0301a16e05540a2eae63"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a322d0c0ba72d0301a16e05540a2eae63">RobotRunner::~RobotRunner</a></div><div class="ttdeci">virtual ~RobotRunner()</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d28/_robot_runner_8cpp_source.html#l00189">RobotRunner.cpp:189</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a78d284d08fd22d809fd436256f2cbc39"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a78d284d08fd22d809fd436256f2cbc39">RobotType</a></div><div class="ttdeci">RobotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00120">cppTypes.h:120</a></div></div>
<div class="ttc" id="struct_ti_board_data_html"><div class="ttname"><a href="../../de/de1/struct_ti_board_data.html">TiBoardData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d42/ti__boardcontrol_8h_source.html#l00020">ti_boardcontrol.h:20</a></div></div>
<div class="ttc" id="_i_m_u_types_8h_html"><div class="ttname"><a href="../../d0/df2/_i_m_u_types_8h.html">IMUTypes.h</a></div><div class="ttdoc">Data from IMUs. </div></div>
<div class="ttc" id="class_robot_runner_html_a8c74848e52f20b1294d650641f40ea4f"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a8c74848e52f20b1294d650641f40ea4f">RobotRunner::visualizationData</a></div><div class="ttdeci">VisualizationData * visualizationData</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00055">RobotRunner.h:55</a></div></div>
<div class="ttc" id="class_robot_runner_html_aa5a05775ffd71056024d5a60c3bfe354"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#aa5a05775ffd71056024d5a60c3bfe354">RobotRunner::_iterations</a></div><div class="ttdeci">u64 _iterations</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00080">RobotRunner.h:80</a></div></div>
<div class="ttc" id="_contact_estimator_8h_html"><div class="ttname"><a href="../../db/d94/_contact_estimator_8h.html">ContactEstimator.h</a></div><div class="ttdoc">All Contact Estimation Algorithms. </div></div>
<div class="ttc" id="class_robot_runner_html_a02c2ec6b1bbcdba9bb71a52e1c7c1ff4"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a02c2ec6b1bbcdba9bb71a52e1c7c1ff4">RobotRunner::state_estimator_lcm</a></div><div class="ttdeci">state_estimator_lcmt state_estimator_lcm</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00075">RobotRunner.h:75</a></div></div>
<div class="ttc" id="_visualization_data_8h_html"><div class="ttname"><a href="../../df/d0d/_visualization_data_8h.html">VisualizationData.h</a></div></div>
<div class="ttc" id="class_robot_runner_html_a5c821324ab0aa3242530fe440cef8238"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a5c821324ab0aa3242530fe440cef8238">RobotRunner::_desiredStateCommand</a></div><div class="ttdeci">DesiredStateCommand&lt; float &gt; * _desiredStateCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00072">RobotRunner.h:72</a></div></div>
<div class="ttc" id="class_periodic_task_manager_html"><div class="ttname"><a href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a></div><div class="ttdef"><b>Definition:</b> <a href="../../dc/d87/_periodic_task_8h_source.html#l00057">PeriodicTask.h:57</a></div></div>
<div class="ttc" id="struct_spi_data_html"><div class="ttname"><a href="../../d5/d09/struct_spi_data.html">SpiData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d6a/_spine_board_8h_source.html#l00034">SpineBoard.h:34</a></div></div>
<div class="ttc" id="class_desired_state_command_html"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand&lt; float &gt;</a></div></div>
<div class="ttc" id="class_robot_runner_html_a22049e420073df0f4f7c0df114b5e917"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#a22049e420073df0f4f7c0df114b5e917">RobotRunner::_robot_ctrl</a></div><div class="ttdeci">RobotController * _robot_ctrl</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00044">RobotRunner.h:44</a></div></div>
<div class="ttc" id="class_robot_runner_html_ac36f7f6395167f998afe23f6d4f86c82"><div class="ttname"><a href="../../d9/d42/class_robot_runner.html#ac36f7f6395167f998afe23f6d4f86c82">RobotRunner::robotType</a></div><div class="ttdeci">RobotType robotType</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d41/_robot_runner_8h_source.html#l00047">RobotRunner.h:47</a></div></div>
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